124 lines
3.1 KiB
Systemverilog
124 lines
3.1 KiB
Systemverilog
module controller
|
|
(input logic clk,
|
|
input logic reset,
|
|
|
|
input logic sensor_l,
|
|
input logic sensor_m,
|
|
input logic sensor_r,
|
|
|
|
input logic [20:0] count_in,
|
|
output logic count_reset,
|
|
|
|
output logic motor_l_reset,
|
|
output logic motor_l_direction,
|
|
|
|
output logic motor_r_reset,
|
|
output logic motor_r_direction);
|
|
|
|
// actual FSM control
|
|
typedef enum logic [2:0] { off, sharp_left, gentle_left, forward, gentle_right, sharp_right } controller_state;
|
|
controller_state state,next_state;
|
|
|
|
always_ff @(posedge clk) begin
|
|
if(reset)begin
|
|
state <= off;
|
|
end
|
|
else begin
|
|
state <= next_state;
|
|
end
|
|
end
|
|
|
|
//state logic
|
|
always_comb begin
|
|
case(state)
|
|
off:
|
|
case ({sensor_l,sensor_m,sensor_r})
|
|
3'b000:
|
|
next_state = forward;
|
|
3'b001:
|
|
next_state = gentle_left;
|
|
3'b010:
|
|
next_state = forward;
|
|
3'b011:
|
|
next_state = sharp_left;
|
|
3'b100:
|
|
next_state = gentle_right;
|
|
3'b101:
|
|
next_state = forward;
|
|
3'b110:
|
|
next_state = sharp_right;
|
|
3'b111:
|
|
next_state = forward;
|
|
endcase
|
|
sharp_left,
|
|
sharp_right,
|
|
forward,
|
|
gentle_left,
|
|
gentle_right:
|
|
if(count_in==?2000000) next_state=off;
|
|
endcase
|
|
end
|
|
|
|
//output logic
|
|
always_comb begin
|
|
case(state)
|
|
off:
|
|
begin
|
|
motor_l_reset=1;
|
|
motor_r_reset=1;
|
|
end
|
|
forward:
|
|
begin
|
|
motor_l_direction=1;
|
|
motor_r_direction=0;
|
|
motor_l_reset=0;
|
|
motor_r_reset=0;
|
|
end
|
|
gentle_left:
|
|
begin
|
|
motor_l_direction=0;
|
|
motor_r_direction=0;
|
|
motor_l_reset=1;
|
|
motor_r_reset=0;
|
|
end
|
|
sharp_left:
|
|
begin
|
|
motor_l_direction=0;
|
|
motor_r_direction=0;
|
|
motor_l_reset=0;
|
|
motor_r_reset=0;
|
|
end
|
|
gentle_right:
|
|
begin
|
|
motor_l_direction=1;
|
|
motor_r_direction=0;
|
|
motor_l_reset=0;
|
|
motor_r_reset=1;
|
|
end
|
|
sharp_right:
|
|
begin
|
|
motor_l_direction=1;
|
|
motor_r_direction=1;
|
|
motor_l_reset=0;
|
|
motor_r_reset=0;
|
|
end
|
|
default:
|
|
begin
|
|
motor_l_reset=1;
|
|
motor_r_reset=1;
|
|
end
|
|
endcase
|
|
end
|
|
|
|
|
|
always_comb //counter reset logic
|
|
begin
|
|
if(!(state==?off))
|
|
count_reset = 0;
|
|
else begin
|
|
count_reset = 1;
|
|
end
|
|
end
|
|
endmodule
|
|
|